Yoon, S.
, Bostelman, R.
and Virts, A.
(2022),
GRID-VIDEO MEASUREMENT METHOD FOR A-UGV'S SMALL OBSTACLE AVOIDANCE PERFORMANCE, Proceedings of the ASME2022 International Mechanical Engineering Congress and Exposition IMECE2022, Columbus, OH, US, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=934833
(Accessed December 14, 2024)
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.
GRID-VIDEO MEASUREMENT METHOD FOR A-UGV'S SMALL OBSTACLE AVOIDANCE PERFORMANCE
Published
Author(s)
, ,
Abstract
With the advancement of factory logistics into the autonomous era comes the need to validate the safety and performance characteristics of Autonomous-Unmanned Ground Vehicles (A-UGVs) working in these application spaces ASTM Committee F45 has been developing standards for A-UGV performance measurement in various domains. The object detection and obstacle avoidance performance of A-UGVs in factories needs to be managed carefully as the action may cause severe damages, particularly when obstacles are either not detected or erroneously detected. In this paper, the grid-video measurement method is proposed to measure the small (e.g., short and/or thin) obstacle avoidance performance of A-UGVs. First, this paper describes the need for measuring the A-UGV performance through examples of small obstacles and the required A-UGV capability to avoid them. Next, the grid-video measurement method is introduced as a low cost, standard method to measure the small obstacle avoidance performance of A-UGVs. An experiment using blocks demonstrates how the grid-video measurement method can be used effectively to measure the A-UGV obstacle avoidance performance, and it shows that the performance changes upon A-UGV specification, obstacle sizing, and environmental conditions quantitively. The method and experimental results proposed in this paper will be used to support ASTM F45 standard development.Proceedings Title
Proceedings of the ASME2022 International Mechanical Engineering Congress and Exposition IMECE2022
Conference Dates
October 30-November 3, 2022
Conference Location
Columbus, OH, US
Conference Title
International Mechanical Engineering Congress and Exposition(IMECE) 2022
Pub Type
Conferences
Download Paper
Keywords
A-UGV, grid-video measurement, obstacle avoidance
Citation
Issues
If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.
Created November 3, 2022, Updated December 19, 2022